WO2014192161A1 - 作業機械のエンジン制御装置およびそのエンジン制御方法 - Google Patents

作業機械のエンジン制御装置およびそのエンジン制御方法 Download PDF

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Publication number
WO2014192161A1
WO2014192161A1 PCT/JP2013/065288 JP2013065288W WO2014192161A1 WO 2014192161 A1 WO2014192161 A1 WO 2014192161A1 JP 2013065288 W JP2013065288 W JP 2013065288W WO 2014192161 A1 WO2014192161 A1 WO 2014192161A1
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WIPO (PCT)
Prior art keywords
engine
output
lever operation
engine output
allowance information
Prior art date
Application number
PCT/JP2013/065288
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English (en)
French (fr)
Japanese (ja)
Inventor
村上　健太郎
正 河口
Original Assignee
株式会社小松製作所
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Filing date
Publication date
Application filed by 株式会社小松製作所 filed Critical 株式会社小松製作所
Priority to JP2013553715A priority Critical patent/JP5727630B1/ja
Priority to US14/344,728 priority patent/US9494169B2/en
Priority to DE112013000220.5T priority patent/DE112013000220B4/de
Priority to CN201380003160.5A priority patent/CN104487682B/zh
Priority to KR1020157029784A priority patent/KR101799660B1/ko
Priority to PCT/JP2013/065288 priority patent/WO2014192161A1/ja
Publication of WO2014192161A1 publication Critical patent/WO2014192161A1/ja

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/01—Locking-valves or other detent i.e. load-holding devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2004—Control mechanisms, e.g. control levers
    • E02F9/2012—Setting the functions of the control levers, e.g. changing assigned functions among operations levers, setting functions dependent on the operator or seat orientation
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
    • E02F9/2062—Control of propulsion units
    • E02F9/2066—Control of propulsion units of the type combustion engines
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2292—Systems with two or more pumps
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
    • F02D29/04—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving pumps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/14—Special measures for giving the operating person a "feeling" of the response of the actuated device
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means
    • F15B21/082—Servomotor systems incorporating electrically operated control means with different modes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means
    • F15B21/087—Control strategy, e.g. with block diagram
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20507—Type of prime mover
    • F15B2211/20523—Internal combustion engine
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/2053—Type of pump
    • F15B2211/20546—Type of pump variable capacity
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20576—Systems with pumps with multiple pumps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/40—Flow control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6309—Electronic controllers using input signals representing a pressure the pressure being a pressure source supply pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/633—Electronic controllers using input signals representing a state of the prime mover, e.g. torque or rotational speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6333—Electronic controllers using input signals representing a state of the pressure source, e.g. swash plate angle
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6346—Electronic controllers using input signals representing a state of input means, e.g. joystick position
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6651—Control of the prime mover, e.g. control of the output torque or rotational speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6658—Control using different modes, e.g. four-quadrant-operation, working mode and transportation mode
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/72—Output members, e.g. hydraulic motors or cylinders or control therefor having locking means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/75—Control of speed of the output member

Definitions

  • the present invention relates to an engine control device for a work machine including a construction machine such as a hydraulic excavator, a bulldozer, a dump truck, a wheel loader, and the engine control method.
  • a construction machine such as a hydraulic excavator, a bulldozer, a dump truck, a wheel loader, and the engine control method.
  • engine controller In engine control of a diesel engine (hereinafter referred to as an engine) used in a work machine, when an operator of the work machine arbitrarily sets a fuel adjustment dial (throttle dial) provided in the cab, the engine controller is connected to the fuel injection system. On the other hand, a control signal for injecting the fuel injection amount corresponding to the setting to the engine is output. The engine controller then outputs to the fuel injection system a control signal corresponding to the load fluctuation of the work machine attached to the work machine so that the target engine speed set by the fuel adjustment dial (throttle dial) is maintained. Then adjust the engine speed. Further, the engine controller or the pump controller calculates a target absorption torque of the hydraulic pump according to the engine target rotational speed. This target absorption torque is set so that the output horsepower of the engine and the absorption horsepower of the hydraulic pump are balanced.
  • the engine is controlled so as not to exceed the engine output torque line TL, which is composed of the engine maximum output torque line P1 and the engine droop line Fe drawn from the maximum engine speed.
  • the engine controller for example, when the work machine is a hydraulic excavator or the like, determines the engine speed according to the operation amount of the operation lever operated for the turning operation of the upper-part turning body and the work machine operation and the load of the work machine etc.
  • a control signal is generated for changing. For example, when excavation operation such as earth and sand is performed in a state where the engine target rotational speed is set to N2, the engine rotational speed when the engine is idling (idling rotational speed N1) is changed to the engine target rotational speed N2.
  • the fuel injection system receives a control signal from the engine controller, injects fuel into the engine in accordance with this transition, and when the load increases due to operation of the work implement etc., the engine speed and engine output torque
  • the engine speed shifts so that a matching point M1 corresponding to the intersection of the pump absorption torque line PL of the variable displacement hydraulic pump (typically a swash plate hydraulic pump) and the engine output torque line TL is reached. To do. At the rated point P, the engine output becomes maximum.
  • a target engine operation line (target matching route) ML passing through a region where the fuel consumption rate is good is provided.
  • an engine control device that provides a matching point between the engine output and the pump absorption torque on the ML.
  • a curve M indicates an equal fuel consumption curve of the engine, and the fuel consumption rate is more excellent as it goes to the center of the curve M (eyeball (M1)).
  • Curve J represents an equal horsepower curve in which the horsepower absorbed by the hydraulic pump is equal horsepower.
  • the fuel consumption rate is better when matching is performed at the matching point pt2 on the target matching route ML than when matching is performed at the matching point pt1 on the engine droop line Fe.
  • the engine target output can be varied, but the engine target output is reduced even if the actual engine output is decreased by moving the operating lever in the decreasing direction. I didn't even consider it. Conventionally, the engine target output is reduced only when the operation lever returns to neutral.
  • the engine target output does not decrease even though the engine lever is decreased by reducing the operating lever, the engine speed will move on the droop line passing through the matching point of the engine target output as the engine actual output decreases. As a result, the engine speed was increased, and the fuel consumption rate deteriorated.
  • the present invention has been made in view of the above, and provides an engine control device for a work machine and an engine control method thereof that can improve fuel efficiency by setting an engine target output according to the intention of an operator.
  • the purpose is to do.
  • an engine control device for a work machine includes an engine, a work machine driven by at least power of the engine, and an operation lever for operating at least the work machine.
  • An engine output reduction allowance information generating unit that generates engine output decrease allowance information that allows a decrease in engine output while the total amount of lever operation by the operation lever is reduced, and an engine torque Engine actual output calculation unit that calculates the actual engine output based on the engine speed and the engine actual output output up to the present while holding the engine output reduction allowance information is not generated
  • An engine target output calculation unit that calculates and outputs an engine target output based on the engine output output by the latch function unit, an engine controller that controls the engine speed under the limitation of the engine target output, It is provided with.
  • the engine output reduction allowance information generation unit is configured to input the total lever operation amount when the engine output decrease allowance information is not generated.
  • the engine output decrease allowance information is generated on the assumption that the total amount of lever operation has decreased when the change in decrease of the engine is greater than or equal to a predetermined amount.
  • a hysteresis processing unit that performs a hysteresis process that does not generate the engine output decrease allowance information when the lever operation total amount increases when the increase in the total amount exceeds a predetermined amount is provided.
  • the engine output reduction allowance information generation unit does not generate the engine output decrease allowance information when the pump pressure exceeds a predetermined high pressure threshold. It is characterized by that.
  • the engine control device for a work machine further includes a one-touch power-up button for outputting a one-touch power-up signal for instructing a temporary increase in engine output in the above invention, and generating the engine output reduction allowance information.
  • the unit does not generate the engine output reduction allowance information while the one-touch power-up signal is input.
  • the engine target output calculation unit is configured to perform calculation processing in a direction in which the engine target output increases when the engine output decrease allowance information is generated. It is characterized by not performing.
  • an engine control method for a work machine including an engine, a work machine driven by at least power of the engine, and an operation lever for operating the work machine.
  • Engine output reduction allowance information generation step for generating engine output reduction allowance information that allows a decrease in engine output while the total amount of lever operation by the engine is decreasing, and actual engine output based on engine torque and engine speed
  • the actual engine output calculation step for calculating the engine output and the maximum engine actual output up to the present are held and output while the engine output decrease allowance information is not generated, and the engine output decrease allowance information is generated
  • a latch function step for outputting the current actual engine output, and the latch function An engine target output calculation step for calculating and outputting an engine target output based on the engine output output by Step, and an engine control step for controlling the engine speed under the limitation of the engine target output.
  • the engine output reduction allowance information generation step includes the input lever operation total amount when the engine output decrease allowance information is not generated.
  • the engine output decrease allowance information is generated on the assumption that the total amount of lever operation has decreased when the change in decrease of the engine is greater than or equal to a predetermined amount.
  • a hysteresis processing step for performing a hysteresis process that does not generate the engine output decrease allowance information when the lever operation total amount increases when the increase in the total amount exceeds a predetermined amount.
  • the engine output decrease allowance information that allows the engine output to decrease is generated, and while the engine output decrease allowance information is not generated, Up to the maximum actual engine output until the engine output reduction allowance information is generated, the current actual engine output is output, and the target engine output is determined based on the output engine output. Calculate and output. As a result, it is possible to reliably set the engine target output corresponding to the actual engine output even while the lever operation total amount is decreasing, and it is possible to improve the fuel consumption according to the operator's intention.
  • FIG. 1 is a perspective view showing an overall configuration of a hydraulic excavator according to Embodiment 1 of the present invention.
  • FIG. 2 is a schematic diagram showing a configuration of a control system of the hydraulic excavator shown in FIG.
  • FIG. 3 is a torque diagram for explaining the contents of engine control by the engine controller or the pump controller.
  • FIG. 4 is a torque diagram for explaining the contents of engine control by the engine controller or the pump controller using the lever operation total amount reduction flag.
  • FIG. 5 is a torque diagram for explaining the contents of engine control by the engine controller or the pump controller.
  • FIG. 6 is a diagram showing an overall control flow by the engine controller or the pump controller.
  • FIG. 7 is a diagram showing a detailed control flow of the no-load maximum rotation speed calculation block shown in FIG. FIG.
  • FIG. 8 is a diagram showing a detailed control flow of the engine minimum output calculation block shown in FIG.
  • FIG. 9 is a diagram showing a detailed control flow of the engine maximum output calculation block shown in FIG.
  • FIG. 10 is a diagram showing a detailed control flow of the engine target output calculation block shown in FIG.
  • FIG. 11 is a diagram showing a detailed control flow of the lever operation total amount decrease flag calculation block shown in FIG.
  • FIG. 12 is a flowchart illustrating a processing procedure of the lever operation total amount decrease flag calculation processing unit illustrated in FIG. 11.
  • FIG. 13 is a diagram showing a detailed control flow of the latch function block of the engine actual output shown in FIG.
  • FIG. 14 is a flowchart showing an integration processing procedure by the integration unit shown in FIG. FIG.
  • FIG. 15 is a time chart showing an example of the engine target output using the lever operation total amount reduction flag.
  • FIG. 16 is a time chart showing an example of the engine target output using the lever operation total amount reduction flag.
  • FIG. 17 is a diagram showing a detailed control flow of the matching minimum rotation speed calculation block shown in FIG.
  • FIG. 18 is a diagram showing a detailed control flow of the target matching rotation speed calculation block shown in FIG.
  • FIG. 19 is a diagram showing a detailed control flow of the engine speed command value calculation block shown in FIG.
  • FIG. 20 is a diagram showing a detailed control flow of the pump absorption torque command value calculation block shown in FIG.
  • FIG. 21 is a torque diagram for explaining the contents of engine control by the engine controller or the pump controller.
  • FIG. 22 is a schematic diagram showing a configuration of a control system of the hybrid excavator according to the second embodiment of the present invention.
  • FIG. 23 is a diagram showing an overall control flow by the engine controller, pump controller, or hybrid controller according to the second embodiment of the present invention.
  • FIG. 24 is a torque diagram illustrating conventional engine control.
  • FIG. 25 is a torque diagram illustrating conventional engine control using a target matching route.
  • FIG. 1 and FIG. 2 have shown the whole structure of the hydraulic shovel 1 which is an example as a working machine.
  • the hydraulic excavator 1 includes a vehicle main body 2 and a work implement 3.
  • the vehicle main body 2 includes a lower traveling body 4 and an upper swing body 5.
  • the lower traveling body 4 has a pair of traveling devices 4a.
  • Each traveling device 4a has a crawler belt 4b.
  • Each traveling device 4a travels or turns the excavator 1 by driving the crawler belt 4b with a right traveling motor and a left traveling motor (traveling motor 21).
  • the upper turning body 5 is provided on the lower traveling body 4 so as to be turnable, and turns when the turning hydraulic motor 31 is driven.
  • the upper swing body 5 is provided with a cab 6.
  • the upper swing body 5 includes a fuel tank 7, a hydraulic oil tank 8, an engine room 9, and a counterweight 10.
  • the fuel tank 7 stores fuel for driving the engine 17.
  • the hydraulic oil tank 8 stores hydraulic oil discharged from the hydraulic pump 18 to a hydraulic cylinder such as the boom cylinder 14, hydraulic equipment such as the swing hydraulic motor 31 and the traveling motor 21.
  • the engine room 9 houses devices such as the engine 17 and the hydraulic pump 18.
  • the counterweight 10 is disposed behind the engine chamber 9.
  • the work machine 3 is attached to the front center position of the upper swing body 5 and includes a boom 11, an arm 12, a bucket 13, a boom cylinder 14, an arm cylinder 15, and a bucket cylinder 16.
  • a base end portion of the boom 11 is rotatably connected to the upper swing body 5. Further, the distal end portion of the boom 11 is rotatably connected to the proximal end portion of the arm 12.
  • the tip of the arm 12 is rotatably connected to the bucket 13.
  • the boom cylinder 14, the arm cylinder 15, and the bucket cylinder 16 are hydraulic cylinders that are driven by hydraulic oil discharged from the hydraulic pump 18.
  • the boom cylinder 14 operates the boom 11.
  • the arm cylinder 15 operates the arm 12.
  • the bucket cylinder 16 operates the bucket 13.
  • the excavator 1 includes an engine 17 and a hydraulic pump 18 as drive sources.
  • a diesel engine is used as the engine 17, and a variable displacement hydraulic pump (for example, a swash plate hydraulic pump) is used as the hydraulic pump 18.
  • a hydraulic pump 18 is mechanically coupled to the output shaft of the engine 17, and the hydraulic pump 18 is driven by driving the engine 17.
  • a driving lever (not shown) for driving the left and right traveling devices 4a and operating levers 26R and 26L for driving the work implement 3, the upper swing body 5 and the like are provided in a cab 6 provided in the vehicle body 2. And are provided respectively.
  • the up / down / left / right operation of the operation lever 26R sets the supply amount of hydraulic oil to be supplied corresponding to the expansion / contraction of the boom cylinder 14 and the bucket cylinder 16, respectively.
  • the up / down / left / right operation of the operation lever 26L sets the amount of hydraulic oil supplied to the swing hydraulic motor 31 that drives the arm cylinder 15 and the upper swing body 5, respectively.
  • the operation amounts of the operation levers 26R and 26L are converted into electric signals by the lever operation amount detection unit 27.
  • the lever operation amount detection unit 27 is configured by a pressure sensor.
  • the pressure sensor detects the pilot hydraulic pressure generated according to the operation of the operation levers 26R and 26L, and the lever operation amount is obtained by converting the voltage output from the pressure sensor into the lever operation amount.
  • the lever operation amount is output to the pump controller 33 as an electrical signal.
  • the lever operation amount detection unit 27 is configured by an electric detection means such as a potentiometer, and the voltage generated according to the lever operation amount is controlled by the lever operation amount. Calculate the lever operation amount in terms of.
  • a fuel adjustment dial (throttle dial) 28 In the cab 6, a fuel adjustment dial (throttle dial) 28, a mode switching unit 29, and a one-touch power-up button 29a are provided at the top of the operation lever 26L.
  • the one-touch power-up button 29a may be installed independently other than the upper part of the operation lever 26L.
  • the fuel adjustment dial (throttle dial) 28 is a switch for setting the fuel supply amount to the engine 17, and the set value of the fuel adjustment dial (throttle dial) 28 is converted into an electrical signal and output to the engine controller 30. Is done.
  • the engine controller 30 includes an arithmetic device such as a CPU (numerical arithmetic processor) and a memory (storage device).
  • the engine controller 30 generates a control command signal based on the set value of the fuel adjustment dial (throttle dial) 28, and the common rail control unit 32 receives the control signal to adjust the fuel injection amount to the engine 17.
  • the engine 17 is an engine that can be electronically controlled by a common rail type, can output a target output by appropriately controlling the fuel injection amount, and can output at a certain engine speed. Torque can be set freely.
  • the mode switching unit 29 is a part that sets the work mode of the excavator 1 to the power mode or the economy mode, and is configured by, for example, operation buttons and switches provided in the cab 6 or a touch panel.
  • the operation mode can be switched by operating those operation buttons.
  • the power mode is an operation mode in which engine control and pump control are performed while suppressing fuel consumption while maintaining a large work amount.
  • the economy mode is a work mode in which engine control and pump control are performed so as to ensure the operation speed of the work implement 3 in light load work while further reducing fuel consumption. In the setting by the mode switching unit 29 (switching of the work mode), an electrical signal is output to the engine controller 30 and the pump controller 33.
  • the output torque of the engine 17 and the absorption torque of the hydraulic pump 18 are matched in a region where the rotation speed and output torque of the engine 17 are relatively high.
  • matching is performed with a lower engine output than in the power mode.
  • the one-touch power-up button 29a is a button for instructing a temporary increase in engine output.
  • a one-touch power-up signal is output to the engine controller 30 and the pump controller 33 for a period of about 5 to 10 seconds.
  • the engine controller 30 and the pump controller 33 temporarily increase the engine output while the one-touch power-up signal is input.
  • the pump controller 33 receives signals transmitted from the engine controller 30, the mode switching unit 29, the one-touch power-up button 29a, and the lever operation amount detection unit 27, and controls the tilt of the swash plate angle of the hydraulic pump 18 to control the hydraulic pump.
  • a control command signal for adjusting the discharge amount of the hydraulic oil from 18 is generated.
  • the pump controller 33 receives a signal from a swash plate angle sensor 18 a that detects the swash plate angle of the hydraulic pump 18. When the swash plate angle sensor 18a detects the swash plate angle, the pump displacement of the hydraulic pump 18 can be calculated.
  • a pipe between the hydraulic pump 18 and the control valve 20 is provided with a pump pressure detection unit 20 a for detecting the pump discharge pressure of the hydraulic pump 18. The detected pump discharge pressure is converted into an electrical signal and input to the pump controller 33.
  • the engine controller 30 and the pump controller 33 are connected via an in-vehicle LAN such as a CAN (Controller Area Network) so that information can be exchanged between them.
  • the engine controller 30 acquires information (a signal indicating an operating state) such as a lever operation amount, a work mode, a set value of the fuel adjustment dial (throttle dial) 28, a turning speed (turning speed) of the upper turning body 5, Obtain the engine output command value.
  • the engine output command value is an equal horsepower curve (engine output command value curve) EL1 on the torque diagram, and is a curve that limits engine output.
  • the engine output is not restrained by the droop line, and the intersection (target matching point) between the engine output command value curve EL1 and the pump absorption torque line PL.
  • the work machine 3 is operated by matching the engine output and the hydraulic pump output at MP1.
  • the target matching point MP1 is preferably provided on the target matching route ML.
  • the engine speed at the target matching point MP1 is the target matching speed np1, for example, in the vicinity of 1000 rpm in FIG. As a result, the work machine 3 can obtain a sufficient output, and the engine 17 is driven at a low speed, so that fuel consumption can be kept low.
  • the engine target output increases, and the engine actual output of equal horsepower is obtained from the engine output command value curve EL1 indicating the engine actual output HP11 of equal horsepower.
  • the routine proceeds to an engine output command value curve EL3 indicating HP13 (HP11 ⁇ HP13).
  • the target matching point MP1 moves in the engine output increasing direction on the matching route ML, and becomes the target matching point MP3 that is the intersection of the engine output command value curve EL3 and the matching route ML.
  • the actual engine output engine load
  • the engine torque decreases along the droop line passing through the target matching point MP3, and the engine speed increases.
  • the engine target output decreases as the lever operation amount decreases.
  • the engine target output shifts from the engine output command value curve EL3 to the engine output command value curve EL1.
  • the target matching point MP3 shifts to the target matching point MP1, and accordingly, the engine speed is greatly reduced from np3 to np1, and fuel efficiency can be improved.
  • the target matching point MP3 is set even if the engine actual output decreases as the lever operation amount decreases. Is maintained.
  • the engine controller 30 controls the no-load maximum rotational speed np2 (corresponding to information such as the lever operation amount, the rotational speed of the upper swing body 5 and the setting value of the fuel adjustment dial (throttle dial) 28). For example, in FIG. 3, the vicinity of 2050 rpm is determined and the engine 17 is driven by controlling the engine droop within the engine speed range between the target matching speed np1 and the no-load maximum speed np2.
  • the hydraulic oil flow rate discharged from the hydraulic pump 18 can be sufficiently supplied to the hydraulic cylinders 14, 15, 16, and the operating speed of the work machine 3 can be ensured. Further, since the engine output is limited by the engine output command value curve EL, useless energy is not consumed.
  • the no-load maximum rotation speed np2 is not limited to the maximum rotation speed that can be output by the engine.
  • control is performed to shift the droop line DL in the high rotation region to the low rotation region.
  • the pump capacity is detected by the swash plate angle sensor 18a, and the droop line DL is shifted depending on the magnitude of the detected value.
  • the hydraulic oil flow rate is required. Therefore, the droop line DL is shifted to a high rotation range to increase the engine speed, and the pump capacity is higher than the predetermined value. If it is detected that the flow rate is small, the flow rate of the hydraulic oil is not required, so the droop line DL is shifted to the low rotation range to lower the engine speed. By performing such control, it is possible to suppress wasteful fuel consumption due to engine driving in a high rotation range.
  • FIG. 6 shows an overall control flow by the engine controller 30 or the pump controller 33.
  • the engine controller 30 or the pump controller 33 finally calculates an engine speed command value and an engine output command value as engine control commands, and calculates a pump absorption torque command value as a pump control command.
  • the no-load maximum rotation speed calculation block 110 calculates the no-load maximum rotation speed D210 (np2), which is a value that becomes the upper limit value of the engine rotation speed command value, according to the detailed control flow shown in FIG.
  • D210 no-load maximum rotation speed
  • the flow rate of the hydraulic pump 18 hydroaulic pump discharge flow rate
  • the flow rate of the hydraulic pump 18 hydroaulic pump discharge flow rate
  • the summation unit 212 obtains the sum of the no-load rotation speeds obtained from each lever value signal D100 (lever operation amount) as a candidate value for the no-load maximum rotation speed D210.
  • Each lever value signal D100 (signal indicating each lever operation amount) includes a turning lever value, a boom lever value, an arm lever value, a bucket lever value, a traveling right lever value, a traveling left lever value, and a service lever value.
  • This service lever value is a value indicating a lever operation amount for operating this hydraulic actuator when a hydraulic circuit to which a new hydraulic actuator can be connected is provided.
  • Each lever value signal D100 is converted into a no-load rotation speed by a lever value / no-load rotation speed conversion table 211 as shown in FIG. 7, and the converted value is summed by the summation unit 212. Is output to the minimum value selection unit (MIN selection) 214.
  • the no-load rotation speed limit value selection block 210 has four operation modes D103 set by the operation amount of each lever value signal D100, pump pressures D104 and D105, which are discharge pressures of the hydraulic pump 18, and the mode switching unit 29. Using this information, the operator of the excavator 1 determines what operation pattern (work pattern) is currently being executed, and selects and determines the no-load rotation speed limit value for the preset operation pattern. To do. The determined no-load rotation speed limit value is output to the minimum value selection unit 214. The determination of the operation pattern (work pattern) is, for example, that the excavator 1 is about to perform heavy excavation work when the arm lever is tilted in the excavation direction and the pump pressure is higher than a set value.
  • the hoist turning operation is an operation in which the upper turning body 5 is turned while raising the boom 11 with the earth and sand excavated by the bucket 13 and the earth and sand in the bucket 13 is discharged at a desired turning stop position.
  • the candidate value of the no-load maximum rotational speed is also determined from the setting state (setting value) of the fuel adjustment dial 28 (throttle dial D102). That is, in response to a signal indicating the set value of the fuel adjustment dial 28 (throttle dial D102), the set value is converted into a no-load maximum rotation speed candidate value by the throttle dial / no-load rotation speed conversion table 213, and the minimum value The data is output to the selection unit 214.
  • the minimum value selection unit 214 uses the no-load rotation speed obtained from the lever value signal D100, the no-load rotation speed limit value obtained by the no-load rotation speed limit value selection block 210 and the set value of the throttle dial D102. The minimum value is selected from the three values and the number, and the no-load maximum rotation speed D210 (np2) is output.
  • FIG. 8 is a detailed control flow of the engine minimum output calculation block 120.
  • the engine minimum output calculation block 120 calculates an engine minimum output D220 that is a value that is a lower limit of the engine output command value.
  • the lever value / engine minimum output conversion table 220 converts each lever value signal D100 to the engine minimum output in the same manner as the calculation of the no-load maximum rotation speed, and the summation unit 221 converts these sums into the minimum value selection unit (MIN selection unit). ) Output to 223.
  • MIN selection unit minimum value selection unit
  • the engine minimum output maximum value selection block 222 outputs the engine minimum output maximum value corresponding to the work mode D103 set by the mode switching unit 29 to the minimum value selection unit 223.
  • the minimum value selection unit 223 compares the sum of the engine minimum outputs corresponding to each lever value signal D100 and the maximum value of the engine minimum output corresponding to the work mode D103, and selects the minimum value as the engine minimum output D220. Output.
  • FIG. 9 is a detailed control flow of the engine maximum output calculation block 130.
  • the engine maximum output calculation block 130 calculates an engine maximum output D230, which is a value that is an upper limit of the engine output command value.
  • the pump output limit value selection block 230 uses the operation amount of each lever value signal D100, the information of the set values of the pump pressures D104 and D105, and the work mode D103, similarly to the calculation by the no-load maximum rotation speed calculation block 110.
  • the current operation pattern is determined, and a pump output limit value is selected for each operation pattern.
  • the adder 233 adds the fan horsepower calculated by the fan horsepower calculation block 231 from the engine speed D107 detected by a rotation speed sensor (not shown) to the selected pump output limit value.
  • the added value (hereinafter referred to as added value) and the engine output limit value converted by the throttle dial / engine output limit conversion table 232 in accordance with the set value of the fuel adjustment dial 28 (throttle dial D102) are selected as the minimum value.
  • the throttle dial / engine output limit conversion table 232 takes the throttle dial setting value on the horizontal axis and the engine output limit value corresponding to the dial value on the vertical axis.
  • the engine output limit value is set to the minimum value, and the engine output limit value is set to increase as the throttle dial value increases.
  • the minimum value selection unit 234 selects the minimum value from the addition value and the engine output limit value, and outputs the minimum value as the engine maximum output D230.
  • the fan is a fan provided in the vicinity of a radiator for cooling the engine 17 and blows air toward the radiator, and is rotationally driven in conjunction with the driving of the engine 17. .
  • FIG. 10 is a detailed control flow of the engine target output calculation block 140.
  • the engine target output calculation block 140 includes an engine output reduction allowance information generation block 301, an engine actual output calculation block 242, an engine actual output latch function block 302, and an engine target output calculation unit 303.
  • the engine target output D240 which is an engine output command value, is calculated.
  • the subtraction unit 243 subtracts the engine output addition offset value 241 set as a fixed value from the previous engine target output D240 obtained by the previous calculation.
  • the previous engine target output D240 is obtained by inputting the previous engine target output D240 that has been calculated and output through the delay circuit 240.
  • the subtraction unit 244 obtains a deviation obtained by subtracting the engine actual output D401 in consideration of the latch output in the engine actual output latch function block 302 from the subtracted value.
  • the multiplier 245 multiplies the deviation by a certain gain ( ⁇ Ki), and the integrator 246 integrates the multiplied value.
  • the adder 247 adds the engine minimum output D220 calculated by the engine minimum output calculation block 120 to the integral value.
  • the minimum value selection unit (MIN selection) 248 outputs, as the engine target output D240, the minimum value of the added value and the engine maximum output D230 calculated by the engine maximum output calculation block 130.
  • the engine target output D240 is used as an engine output command value of the engine control command as shown in FIG. 6, and the engine target output D240 means the engine output command value curves EL1 and EL3 shown in FIGS.
  • the engine actual output calculation block 242 includes the fuel injection amount commanded by the engine controller 30, the engine torque D106 predicted by the engine speed, the atmospheric temperature, and the like, and the engine speed D107 detected by a speed sensor (not shown).
  • Engine actual output (kW) 2 ⁇ ⁇ 60 ⁇ engine speed ⁇ engine torque ⁇ 1000 Is used to calculate the actual engine output D400.
  • the obtained engine actual output D400 is output to the engine actual output latch function block 302.
  • the actual engine output latch function block 302 calculates the actual engine output D401 in consideration of the latch output.
  • the engine output decrease allowance information generation block 301 generates engine output decrease allowance information based on the lever value signal (lever operation total amount) D100, the pump pressures D104 and D105, and the one-touch power-up signal D108. The actual output is output to the latch function block 302 and the integration unit 246.
  • the engine output reduction allowance information is information that allows a decrease in engine output while the lever operation total amount by the operation lever is decreasing. Specifically, the engine output reduction allowance information is a lever operation total amount reduction flag D300.
  • the engine output decrease allowance information generation block 301 performs a calculation process for setting the lever operation total amount decrease flag D300 while the lever operation total amount D100 by the operation lever is decreasing.
  • the lever operation total amount D100 is also output to the latch function block 302 and the integration unit 246 for actual engine output.
  • the engine output reduction allowance information is not limited to the above-described lever operation total amount reduction flag D300, but may be a signal that allows the engine output to decrease, or data that allows the engine output to decrease. You may make it output.
  • a lever operation total amount reduction flag D300 will be described as an example of engine output reduction allowance information.
  • the engine output reduction allowance information generation block 301 includes a hysteresis processing unit 304 and a lever operation total amount reduction flag calculation processing unit 305.
  • the hysteresis processing unit 304 is input with a straight line H1 in which the lever operation total amount D100h output with the increase of the input lever operation total amount D100 allows only an increase in one direction.
  • a straight line H2 in which the lever operation total amount D100h output with the decrease in the lever operation total amount D100 allows only a decrease in one direction is shifted in the direction of the predetermined amount ⁇ h of the lever operation total amount D100 and the lever operation total amount D100.
  • the straight line H2 has a lever operation total amount D100 smaller than the straight line H1 by a predetermined amount ⁇ h of the lever operation total amount D100.
  • the output lever operation total amount D100h is allowed to increase, and when it is decreased, the lever operation is only performed when there is a decrease of the predetermined amount ⁇ h or more. It shifts to the straight line H2 assuming that the operation total amount D100 has decreased.
  • the output lever operation total amount D100h is allowed to decrease, and when increasing, the increase is greater than the predetermined amount ⁇ h described above. Only when the total lever operation amount D100 is increased, the process moves on the straight line H1.
  • the hysteresis processing unit 304 outputs the lever operation total amount D100h converted by the hysteresis characteristic to the lever operation total amount decrease flag calculation processing unit 305.
  • the lever operation total amount D100 is on the straight line H1
  • the lever operation total amount D100 is in an increasing state
  • the lever operation total amount decreasing flag D300 is “FALSE”
  • the flag is set.
  • the lever operation total amount D100 is on the straight line H2
  • the lever operation total amount D100 is in a decreasing state
  • the lever operation total amount reduction flag D300 is “TRUE”, and the flag is in a lowered state.
  • the lever operation total amount decrease flag calculation processing unit 305 performs calculation processing of whether or not to set the lever operation total amount decrease flag D300.
  • this calculation process it is first determined whether or not the one-touch power-up signal D108 is being input (step S101). If the one-touch power-up signal D108 is being input (step S101, Yes), the lever operation total amount decrease flag D300 is set to “FALSE” (step S107). In this case, the lever operation total amount decrease flag D300 is set to “FALSE” because it is necessary to set a high engine target output when one-touch power up is required.
  • step S102 it is further determined whether or not the pump pressures D104 and D105 exceed the high pressure threshold Pth (step S102).
  • the high-pressure threshold Pth is a value close to the relief state, for example.
  • the lever operation total amount decrease flag D300 is set to “FALSE” (step S107). In this case, the lever operation total amount reduction flag D300 is set to “FALSE” because it is necessary to set a high engine target output when the pump pressure is high.
  • lever operation total amount decrease flag D300 is “FALSE” (Step S103). If the lever operation total amount decrease flag D300 is “FALSE” (step S103, Yes), it is determined whether or not the lever operation total amount decrease flag D300 is less than the previous lever operation total amount decrease flag D300 ( Step S104). If the lever operation total amount decrease flag D300 is less than the previous lever operation total amount decrease flag D300 (step S104, Yes), the lever operation total amount decrease flag D300 is set to “TRUE” (step S106). . If the lever operation total amount decrease flag D300 is not less than the previous lever operation total amount decrease flag D300 (No in step S104), the lever operation total amount decrease flag D300 is set to “FALSE” (step S107).
  • lever operation total amount decrease flag D300 is not “FALSE” (No in step S103)
  • the determination unit 410 exceeds the previous engine actual output D401 that the input engine actual output D400 is input via the delay circuit 412. Determine whether or not. Further, the determination unit 410 determines whether or not all levers are neutral from the lever value signal D100. Further, the determination unit 410 determines whether or not the lever operation total amount decrease flag D300 is “TRUE”.
  • the processing unit 401 When the actual engine output D400 input exceeds the previous actual engine output D401 input via the delay circuit 412, or when all levers are neutral, or the lever operation total amount decrease flag D300 is " If “TRUE”, the processing unit 401 performs processing for connecting the changeover switch 411 to the “T” terminal. In other cases, the processing unit 402 performs processing for connecting the changeover switch 411 to the “F” terminal.
  • the actual engine output D400 is input to the “T” terminal, and the previous actual engine output D401 is input to the “F” terminal.
  • the engine actual output latch function block 302 is in an increased state where all levers are not neutral and the lever operation total amount decrease flag D300 is “FALSE” and the flag is lowered, and the engine actual output D400 is the previous engine actual output D401. If not increased below, the previous actual engine output D401 is latched and output, otherwise the actual engine output D400 that is input is output.
  • step S201 it is determined whether or not all levers are neutral (step S201). If all levers are neutral (step S201, Yes), the integral value is reset (step S205).
  • step S202 When all the levers are not neutral (step S201, No), it is determined whether or not the lever operation total amount reduction flag D300 is “TRUE” (step S202).
  • step S202 Yes
  • integration in the addition direction is not performed, but integration processing in the direction other than the addition direction is performed (step S203).
  • step S204 the integration in the subtraction direction is not performed, but the integration processing in the direction other than the subtraction direction is performed (step S204).
  • the engine target output is not reduced when the lever operation total amount is increasing. Further, the engine target output does not increase when the lever operation total amount is decreasing. In particular, when the total lever operation amount is in the decreasing direction, the engine target output does not increase, so that useless energy consumption can be eliminated.
  • Example of engine target output calculation processing (part 1)> An example of engine target output calculation processing will be described with reference to the time chart shown in FIG. As shown in FIG. 15, when the total lever operation amount is set to 100% at time t1, the actual engine output D400 gradually increases. The engine target output D240 is also increased without being decreased by the engine actual output latch function block 302 or the like. In particular, even if the actual engine output D400 falls for a moment in the region E1, the engine target output D240 maintains the previous engine target output without decreasing.
  • the engine output decrease allowance information generation block 301 sets the lever operation total amount decrease flag D300 to "TRUE” and sets the flag, and the engine actual output D400. Begins to decrease.
  • the engine target output D240 also decreases without increasing due to the actual engine output latch function block 302 or the like. In particular, even if the engine actual output D400 increases momentarily in the region E2, the engine target output D240 maintains the previous engine target output without increasing. In the conventional engine control device, as shown by the straight line L240 in FIG. 15 (d), the engine target output does not decrease even when the actual engine output D400 decreases with the decrease in the total lever operation amount. For this reason, as described above, the engine speed remains in a high speed state, and the fuel efficiency cannot be improved.
  • the engine target output D240 is set according to the engine actual output D400, and as described with reference to FIG. 4, when the total amount of lever operation decreases, the engine target output D240 decreases as the engine actual output D400 decreases. Since the engine speed is set, the engine speed can be reduced and the fuel consumption can be improved. Further, the engine target output D240 decreases in accordance with the decrease in the actual engine output D400 accompanying the decrease in the total lever operation amount, and the engine target output D240 does not increase even if the actual engine output D400 increases for a moment. , Can prevent deterioration of fuel consumption.
  • the lever operation total amount decrease flag D300 becomes “TRUE” and the flag is set.
  • the lever operation total amount decrease flag D300 becomes “FALSE” and the flag is lowered.
  • the engine target output D240 increases from time t14.
  • the total lever operation amount at time t11 is 100%, so that the pump pressure is close to the relief state.
  • the total lever operation amount is 100%, reducing the engine target output is a process contrary to the operator's intention.
  • a high engine actual output D400 is output as the engine target output reflecting the operator's intention.
  • the engine target output D240 follows substantially the same characteristic as the curve L10 indicating the engine target output when the lever operation total amount decrease flag D300 does not stand, so that a high actual engine output can be obtained.
  • the minimum matching speed calculation block 150 calculates a minimum matching speed D150, which is the engine speed that must be increased at the minimum during work.
  • a minimum matching speed D150 For the minimum matching rotation speed D150, each value obtained by converting each lever value signal D100 in the lever value / matching minimum rotation speed conversion table 251 becomes a candidate value of the matching minimum rotation speed D150, and each maximum value selection unit (MAX selection) 255. Is output.
  • MAX selection maximum value selection unit
  • the no-load rotational speed / matching rotational speed conversion table 252 matches the engine rotational speed at the intersection of the droop line DL and the target matching route ML that intersect at the no-load maximum rotational speed np2, similarly to the target matching rotational speed np1.
  • the rotation speed np2 ′ the no-load maximum rotation speed D210 (np2) obtained by the no-load maximum rotation speed calculation block 110 is converted and output (see FIG. 21).
  • the low-speed offset rotational speed 253 is subtracted from the matching rotational speed np2 ', and the resulting value is output to the maximum value selection unit (MAX selection) 255 as a candidate value for the matching minimum rotational speed D150.
  • MAX selection maximum value selection unit
  • the turning speed / matching minimum speed conversion table 250 converts the turning speed D101 as a candidate value of the matching minimum speed D150 and outputs the converted value to the maximum value selection unit 255.
  • the turning speed D101 is a value obtained by detecting the turning speed (speed) of the turning hydraulic motor 31 in FIG. 2 using a rotation sensor such as a resolver or a rotary encoder.
  • this turning speed / matching minimum speed conversion table 250 increases the minimum matching speed when the turning speed D101 is zero, and the minimum matching speed as the turning speed D101 increases.
  • the rotation speed D101 is converted with the characteristic of reducing the number.
  • the maximum value selection unit 255 selects the maximum value of these minimum matching rotation speeds and outputs it as the minimum matching rotation speed D150.
  • the engine speed when the load is removed, the engine speed increases up to the maximum no-load speed np2, and when the load is sufficient, the engine speed reaches the target matching speed np1. Go down.
  • the engine speed greatly varies depending on the load. This large fluctuation in the engine speed may be perceived by the operator as a sense of discomfort (a feeling of lack of power) that the operator of the excavator 1 feels that the force of the excavator 1 is not exerted. Therefore, as shown in FIG. 21, it is possible to remove the uncomfortable feeling by using the low-speed offset rotation speed and changing the fluctuation range of the engine rotation speed according to the set low-speed offset rotation speed.
  • the low-speed offset rotational speed is reduced, the fluctuation range of the engine rotational speed is reduced, and if the low-speed offset rotational speed is increased, the fluctuation range of the engine rotational speed is increased.
  • the operating state of the hydraulic excavator 1 such as the state in which the upper swing body 5 is turning and the working machine 3 is performing excavation work
  • the operator may feel uncomfortable. It feels different. In the state where the upper swing body 5 is turning, the operator does not feel that the power is insufficient even if the engine speed is slightly lower than in the state where the work machine 3 is performing excavation work.
  • HP1 to HP5 correspond to the equal horsepower curve J shown in FIG. 25
  • ps represents the horsepower unit (ps)
  • the horsepower increases as it goes to HP1 to HP5.
  • An equal horsepower curve (engine output command value curve) EL is obtained and set according to the obtained engine output command value. Accordingly, the equal horsepower curve (engine output command value curve) EL is not limited to five HP1 to HP5, and is selected from among them.
  • FIG. 21 shows a case where an equal horsepower curve (engine output command value curve) EL, in which the horsepower becomes a horsepower between HP 3 ps and HP 4 ps, is obtained and set.
  • FIG. 18 is a detailed control flow of the target matching rotation speed calculation block 160.
  • the target matching rotational speed calculation block 160 calculates the target matching rotational speed np1 (D260) shown in FIG.
  • the target matching speed D260 is an engine speed at which the engine target output D240 (engine output command value curve EL) and the target matching route ML intersect. Since the target matching route ML is set so as to pass through a point where the fuel consumption rate is good when the engine 17 operates at a certain engine output, the target matching route ML is intersected with the engine target output D240 on the target matching route ML. It is preferable to determine the rotational speed D260.
  • the engine target output / target matching rotation speed conversion table 260 receives the engine target output D240 (engine output command value curve EL) obtained by the engine target output calculation block 140 and receives the engine target output D240 (engine The target matching rotational speed at the intersection of the output command value curve EL) and the target matching route ML is obtained and output to the maximum value selection unit (MAX selection) 261.
  • MAX selection maximum value selection unit
  • the minimum matching speed D150 is obtained from the engine target output / target matching speed conversion table. It becomes larger than the matching rotational speed obtained in 260.
  • the maximum value selection unit (MAX selection) 261 compares the matching minimum rotational speed D150 with the matching rotational speed obtained from the engine target output D240, selects the maximum value, and sets it as a candidate value for the target matching rotational speed D260.
  • the lower limit of the target matching rotational speed is limited.
  • the target matching route ML is deviated, but the target matching point is not MP1 but MP1 ′, and the target matching rotational speed D260 is not np1 but np1 ′. .
  • the upper limit of the target matching rotation speed D260 is also limited by the set value of the fuel adjustment dial 28 (throttle dial D102). That is, the throttle dial / target matching rotation speed conversion table 262 receives a set value of the fuel adjustment dial 28 (throttle dial D102) and receives a droop line corresponding to the set value of the fuel adjustment dial 28 (throttle dial D102).
  • the candidate value of D260 is output, and the candidate value of the output target matching rotation speed D260 and the candidate value of the target matching rotation speed D260 selected by the maximum value selection section 261 are the minimum value selection section (MIN selection) 263. And the minimum value is selected and the final target map Ring rotational speed D260 is output.
  • FIG. 19 is a detailed control flow of the engine speed command value calculation block 170.
  • the engine speed command value calculation block 170 is based on pump capacities D110 and D111 obtained based on the swash plate angles detected by the swash plate angle sensors 18a of the two hydraulic pumps 18.
  • the average unit 270 calculates an average pump capacity obtained by averaging the pump capacities D110 and D111, and the engine speed command selection block 272 determines whether the engine speed command value D270 (no-load maximum value) corresponds to the size of the average pump capacity.
  • the rotation speed np2) is obtained.
  • the engine speed command selection block 272 causes the engine speed command value D270 to approach the no-load maximum speed np2 (D210) when the average pump capacity is larger than a certain set value (threshold value). That is, the engine speed is increased.
  • the average pump capacity is smaller than a certain set value, the engine speed is reduced so as to approach an engine speed nm1 described later.
  • the engine speed corresponding to the position where the engine torque is reduced to zero along the droop line from the intersection of the target matching speed np1 (D260) and the torque on the target matching point MP1 is defined as the no-load speed np1a.
  • the engine speed nm1 is obtained as a value obtained by adding the lower limit speed offset value ⁇ nm to the no-load speed np1a.
  • the conversion to the no-load rotation speed corresponding to the target matching rotation speed D260 is performed by the matching rotation speed / no-load rotation speed conversion table 271. Therefore, the engine speed command value D270 is determined between the no-load minimum speed nm1 and the no-load maximum speed np2 depending on the pump capacity state.
  • the lower limit rotational speed offset value ⁇ nm is a preset value and is stored in the memory of the engine controller 30.
  • Engine rotation speed command value D270 rotation speed np1a obtained by converting target matching rotation speed np1 into no-load rotation speed + lower limit rotation speed offset value ⁇ nm To get close to the desired value.
  • the droop line can be controlled by the engine speed command value D270 thus determined, and when there is a margin in the pump capacity (when the average pump capacity is smaller than a certain set value), it is shown in FIG.
  • the set value q_com1 is a preset value and is stored in the memory of the pump controller 33.
  • the set value q_com1 may be divided into an engine speed increasing side and an engine speed decreasing side, and two different set values may be provided to provide a range in which the engine speed does not change.
  • FIG. 20 is a detailed control flow of the pump absorption torque command value calculation block 180.
  • the pump absorption torque command value calculation block 180 obtains a pump absorption torque command value D280 using the current engine speed D107, engine target output D240, and target matching speed D260.
  • the fan horsepower calculation block 280 calculates the fan horsepower using the engine speed D107.
  • the fan horsepower is obtained by using the above-described calculation formula.
  • the subtraction unit 281 inputs an output (pump target absorption horsepower) obtained by subtracting the obtained fan horsepower from the engine target output D240 obtained in the engine target output computation block 140 to the pump target matching rotational speed and torque computation block 282. To do.
  • the target matching speed D260 obtained by the target matching speed calculation block 160 is input to the pump target matching speed and torque calculation block 282.
  • the target matching rotational speed D260 is the target matching rotational speed of the hydraulic pump 18 (pump target matching rotational speed).
  • Pump target matching torque (60 x 1000 x (engine target output-fan horsepower)) / (2 ⁇ x target matching speed) Is calculated.
  • the obtained pump target matching torque is output to the pump absorption torque calculation block 283.
  • the pump absorption torque calculation block 283 receives the pump target matching rotation speed and the pump target matching torque output from the torque calculation block 282, the engine rotation speed D107 detected by the rotation sensor, and the target matching rotation speed D260.
  • the In the pump absorption torque calculation block 283, as shown in the following equation, pump absorption torque pump target matching torque ⁇ Kp ⁇ (target matching rotation speed ⁇ engine rotation speed) Is calculated, and a pump absorption torque command value D280 as a calculation result is output.
  • Kp is a control gain.
  • the minimum value of the engine speed command value D270 is as described above.
  • Engine rotation speed command value rotation speed np1a obtained by converting target matching rotation speed np1 into no-load rotation speed + lower limit rotation speed offset value ⁇ nm
  • the engine droop line is set at a high rotational speed with a minimum rotational speed offset value ⁇ nm added to the target matching rotational speed.
  • the actual absorption torque (pump actual absorption torque) of the hydraulic pump 18 varies somewhat with respect to the pump absorption torque command, matching is performed within a range that does not affect the droop line.
  • the engine output is limited on the engine output command value curve EL and the engine target output is controlled to be constant, so that the actual absorption torque (pump actual absorption torque)
  • the pump absorption torque command even if variations occur with respect to the pump absorption torque command, fluctuations in engine output can be reduced.
  • the variation in fuel consumption can be suppressed to a small value, and the specifications for the fuel consumption of the excavator 1 can be satisfied.
  • the upper swing body 5 is swung by a hydraulic motor (the swivel hydraulic motor 31), and the hydraulic excavator 1 having a structure in which the working machine 3 is all driven by the hydraulic cylinders 14, 15, 16 is used.
  • the second embodiment is an example in which the present invention is applied to a hydraulic excavator 1 having a structure in which the upper swing body 5 is swung by an electric swing motor.
  • the hydraulic excavator 1 will be described as a hybrid hydraulic excavator 1.
  • the second embodiment and the first embodiment have a common configuration.
  • the hybrid hydraulic excavator 1 Compared with the hydraulic excavator 1 shown in the first embodiment, the hybrid hydraulic excavator 1 has the same main components such as the upper swing body 5, the lower traveling body 4, and the work implement 3. However, in the hybrid excavator 1, as shown in FIG. 22, a generator 19 is mechanically coupled to the output shaft of the engine 17 in addition to the hydraulic pump 18. The pump 18 and the generator 19 are driven. The generator 19 may be mechanically coupled directly to the output shaft of the engine 17 or may be rotationally driven via a transmission means such as a belt or chain applied to the output shaft of the engine 17. Good.
  • a transmission means such as a belt or chain applied to the output shaft of the engine 17. Good.
  • a swing motor 24 that is electrically driven is used, and accordingly, a capacitor 22 and an inverter 23 are provided as an electric drive system.
  • the electric power generated by the generator 19 or the electric power discharged from the capacitor 22 is supplied to the turning motor 24 via the power cable to turn the upper turning body 5. That is, the turning motor 24 is driven to turn by the electric power supplied (electric power generation) supplied from the generator 19 or the electric energy supplied (discharged) from the capacitor 22, and the turning motor 24 is turned when the turning is decelerated. Electric energy is supplied (charged) to the capacitor 22 by the regenerative action.
  • an SR switched reluctance
  • the generator 19 is mechanically coupled to the output shaft of the engine 17, and the rotor shaft of the generator 19 is rotated by driving the engine 17.
  • an electric double layer capacitor is used as the capacitor 22.
  • a nickel metal hydride battery or a lithium ion battery may be used.
  • the rotation motor 25 is provided with a rotation sensor 25, detects the rotation speed of the rotation motor 24, converts it into an electric signal, and outputs it to a hybrid controller 23a provided in the inverter 23.
  • the turning motor 24 for example, an embedded magnet synchronous motor is used.
  • a resolver or a rotary encoder is used as the rotation sensor 25.
  • the hybrid controller 23a includes a CPU (an arithmetic device such as a numerical arithmetic processor), a memory (a storage device), and the like.
  • the hybrid controller 23a receives a signal of a detection value by a temperature sensor such as a thermistor or a thermocouple provided in the generator 19, the swing motor 24, the capacitor 22 and the inverter 23, and overheats each device such as the capacitor 22.
  • a temperature sensor such as a thermistor or a thermocouple provided in the generator 19
  • the swing motor 24 the capacitor 22 and the inverter 23, and overheats each device such as the capacitor 22.
  • the charging / discharging control of the capacitor 22, the power generation / engine assist control by the generator 19, and the power running / regeneration control of the turning motor 24 are performed.
  • FIG. 23 shows an overall control flow of engine control of the hybrid excavator 1.
  • the difference from the overall control flow shown in FIG. 6 is that instead of the turning rotational speed D101 of the swing hydraulic motor 31, the swing motor rotational speed D301 and the swing motor torque D302 of the swing motor 24 are used as input parameters, and further, the generator output D303. Is added as an input parameter.
  • the turning motor rotation speed D301 of the turning motor 24 is input to the no-load maximum rotation speed calculation block 110, the engine maximum output calculation block 130, and the matching minimum rotation speed calculation block 150.
  • the turning motor torque D302 is input to the engine maximum output calculation block 130.
  • the generator output D303 is input to the engine maximum output calculation block 130, the matching minimum rotation number calculation block 150, the target matching rotation number calculation block 160, and the pump absorption torque command value calculation block 180.
  • engine control processing such as setting of an engine target output can be performed.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Combustion & Propulsion (AREA)
  • Operation Control Of Excavators (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • Fluid-Pressure Circuits (AREA)
PCT/JP2013/065288 2013-05-31 2013-05-31 作業機械のエンジン制御装置およびそのエンジン制御方法 WO2014192161A1 (ja)

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JP2013553715A JP5727630B1 (ja) 2013-05-31 2013-05-31 作業機械のエンジン制御装置およびそのエンジン制御方法
US14/344,728 US9494169B2 (en) 2013-05-31 2013-05-31 Engine control apparatus for work machine and engine control method thereof
DE112013000220.5T DE112013000220B4 (de) 2013-05-31 2013-05-31 Kraftmaschinensteuergerät für eine Arbeitsmaschine und Kraftmaschinensteuerverfahren dafür
CN201380003160.5A CN104487682B (zh) 2013-05-31 2013-05-31 作业机械的发动机控制装置及其发动机控制方法
KR1020157029784A KR101799660B1 (ko) 2013-05-31 2013-05-31 작업 기계의 엔진 제어 장치 및 그 엔진 제어 방법
PCT/JP2013/065288 WO2014192161A1 (ja) 2013-05-31 2013-05-31 作業機械のエンジン制御装置およびそのエンジン制御方法

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DE112013000220T5 (de) 2015-05-07
JPWO2014192161A1 (ja) 2017-02-23
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CN104487682B (zh) 2016-10-19
US9494169B2 (en) 2016-11-15
CN104487682A (zh) 2015-04-01
DE112013000220B4 (de) 2016-08-18
JP5727630B1 (ja) 2015-06-03
KR20150131333A (ko) 2015-11-24

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